Skill Extraction: In this work we assume access to an unlabeled offline dataset of prior agent interactions with the environment in the form of \(N\)  un-directed trajectories \(\lbrace \tau _{i} = \lbrace (s_t, a_t)\rbrace _{t=1}^{t=T_i}\rbrace _{i=1}^{i=N}\) .
We further assume that these trajectories include semantically meaningful skills that are composable to execute long horizon tasks in the environment.
This data can be collected from past tasks that have been attempted, or be provided by human-experts through teleoperation [1]}.
